CanFestival: drivers/can_virtual/can

00001 /*
+00002 This file is part of CanFestival, a library implementing CanOpen Stack. 
+00003 
+00004 Copyright (C): Edouard TISSERANT and Francis DUPIN
+00005 
+00006 See COPYING file for copyrights details.
+00007 
+00008 This library is free software; you can redistribute it and/or
+00009 modify it under the terms of the GNU Lesser General Public
+00010 License as published by the Free Software Foundation; either
+00011 version 2.1 of the License, or (at your option) any later version.
+00012 
+00013 This library is distributed in the hope that it will be useful,
+00014 but WITHOUT ANY WARRANTY; without even the implied warranty of
+00015 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+00016 Lesser General Public License for more details.
+00017 
+00018 You should have received a copy of the GNU Lesser General Public
+00019 License along with this library; if not, write to the Free Software
+00020 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+00021 */
+00022 
+00023 /*
+00024         Virtual CAN driver.
+00025 */
+00026 
+00027 #include <stdio.h>
+00028 #include <unistd.h>
+00029 
+00030 #include "can_driver.h"
+00031 #include "def.h"
+00032 
+00033 #define MAX_NB_CAN_PIPES 16
+00034 
+00035 typedef struct {
+00036   char used;
+00037   int pipe[2];
+00038 } CANPipe;
+00039 
+00040 CANPipe canpipes[MAX_NB_CAN_PIPES] = {{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},};
+00041 
+00042 /*********functions which permit to communicate with the board****************/
+00043 UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)
+00044 {
+00045         if(read(((CANPipe*)fd0)->pipe[0], m, sizeof(Message)) != (ssize_t)sizeof(Message))
+00046         {
+00047                 return 1;
+00048         }
+00049         return 0;
+00050 }
+00051 
+00052 #define MyCase(fc) case fc: printf(#fc);break;
+00053 void print_message(Message *m)
+00054 {
+00055         int i;
+00056         switch(m->cob_id.w >> 7)
+00057         {
+00058                 MyCase(SYNC)
+00059                 MyCase(TIME_STAMP)
+00060                 MyCase(PDO1tx)
+00061                 MyCase(PDO1rx)
+00062                 MyCase(PDO2tx)
+00063                 MyCase(PDO2rx)
+00064                 MyCase(PDO3tx)
+00065                 MyCase(PDO3rx)
+00066                 MyCase(PDO4tx)
+00067                 MyCase(PDO4rx)
+00068                 MyCase(SDOtx)
+00069                 MyCase(SDOrx)
+00070                 MyCase(NODE_GUARD)
+00071                 MyCase(NMT)
+00072         }
+00073         printf(" rtr:%d", m->rtr);
+00074         printf(" len:%d", m->len);
+00075         for (i = 0 ; i < m->len ; i++)
+00076                 printf(" %02x", m->data[i]);
+00077         printf("\n");
+00078 }
+00079 
+00080 /***************************************************************************/
+00081 UNS8 canSend_driver(CAN_HANDLE fd0, Message *m)
+00082 {
+00083   int i;
+00084   
+00085   printf("%x->[ ", (CANPipe*)fd0 - &canpipes[0]); 
+00086   for(i=0; i < MAX_NB_CAN_PIPES; i++)
+00087   {
+00088         if(canpipes[i].used && &canpipes[i] != (CANPipe*)fd0)
+00089         {
+00090                 printf("%x ",i);        
+00091         }
+00092   }
+00093   printf(" ]"); 
+00094   print_message(m);
+00095   
+00096   // Send to all readers, except myself
+00097   for(i=0; i < MAX_NB_CAN_PIPES; i++)
+00098   {
+00099         if(canpipes[i].used && &canpipes[i] != (CANPipe*)fd0)
+00100         {
+00101                 write(canpipes[i].pipe[1], m, sizeof(Message));
+00102         }
+00103   }
+00104   return 0;
+00105 }
+00106 /*
+00107 int TranslateBaudeRate(char* optarg){
+00108         if(!strcmp( optarg, "1M")) return 1000;
+00109         if(!strcmp( optarg, "500K")) return 500;
+00110         if(!strcmp( optarg, "250K")) return 250;
+00111         if(!strcmp( optarg, "125K")) return 125;
+00112         if(!strcmp( optarg, "100K")) return 100;
+00113         if(!strcmp( optarg, "50K")) return 50;
+00114         if(!strcmp( optarg, "20K")) return 20;
+00115         if(!strcmp( optarg, "10K")) return 10;
+00116         if(!strcmp( optarg, "5K")) return 5;
+00117         if(!strcmp( optarg, "none")) return 0;
+00118         return 0;
+00119 }*/
+00120 /***************************************************************************/
+00121 CAN_HANDLE canOpen_driver(s_BOARD *board)
+00122 {
+00123   int i;  
+00124   for(i=0; i < MAX_NB_CAN_PIPES; i++)
+00125   {
+00126         if(!canpipes[i].used)
+00127                 break;
+00128   }
+00129 
+00130   /* Create the pipe.  */
+00131   if (i==MAX_NB_CAN_PIPES || pipe(canpipes[i].pipe))
+00132     {
+00133       fprintf (stderr, "Open failed.\n");
+00134       return (CAN_HANDLE)NULL;
+00135     }
+00136 
+00137    canpipes[i].used = 1;
+00138    return (CAN_HANDLE) &canpipes[i];
+00139 }
+00140 
+00141 /***************************************************************************/
+00142 int canClose_driver(CAN_HANDLE fd0)
+00143 {
+00144   close(((CANPipe*)fd0)->pipe[0]);
+00145   close(((CANPipe*)fd0)->pipe[1]);
+00146   ((CANPipe*)fd0)->used = 0;
+00147   return 0;
+00148 }
+00149 
+00150 
+
can_virtual.c
